CN112633590B - Intelligent warehousing method and system for four-way shuttle - Google Patents

Intelligent warehousing method and system for four-way shuttle Download PDF

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CN112633590B
CN112633590B CN202011612955.4A CN202011612955A CN112633590B CN 112633590 B CN112633590 B CN 112633590B CN 202011612955 A CN202011612955 A CN 202011612955A CN 112633590 B CN112633590 B CN 112633590B
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CN112633590A (en
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蔡传玉
于静楠
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Jiangsu Think Tank Intelligent Technology Co ltd
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Abstract

The invention discloses an intelligent warehouse-in method and system for a four-way shuttle vehicle, comprising the following steps: receiving warehouse-in task information; judging whether a target cargo space in the warehousing task information is blocked; if the target cargo space is not blocked, directly calculating a warehouse-in path of the four-way shuttle; if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center; moving the moved goods to a temporary storage position according to the moved goods path; after the moving of the goods in the warehouse is completed, calculating a warehouse-in path of the four-way shuttle; and executing the warehousing tasks according to the warehousing paths. According to the invention, the warehouse-in paths of the four-way shuttle vehicles are respectively planned according to the condition that whether the target cargo space is blocked or not, so that the problem of path planning of the four-way shuttle vehicles when the target cargo space is blocked can be effectively solved.

Description

Intelligent warehousing method and system for four-way shuttle
Technical Field
The invention relates to an intelligent warehousing method and system for a four-way shuttle, and belongs to the technical field of path planning of the four-way shuttle.
Background
The logistics equipment mobile robot is a comprehensive intelligent system integrating multiple functions of environment information sensing, path planning, behavior control, execution and the like. The path planning technology is one of key technologies in the field of robot research, is the safety guarantee of the robot to complete tasks, is one of marks of the intelligent degree of the robot, and is an important combination point and research hot spot of artificial intelligence and robotics.
Since the 70 s of the last century, the problem of path planning has been widely focused by numerous institutions and scholars both at home and abroad, and especially since the 80 s, the study of path planning technology has been greatly improved in theory and practice under the common efforts of expert scholars in the fields of artificial intelligence, computer science, mathematics, mechanical engineering and the like.
In recent years, as robot technology is increasingly permeated into production and living of people, intelligent mobile robots with autonomous perception decision-making and executing functions are rapidly developed, and as the requirement of human beings on robot labor in survival and working is continuously increased, the research of autonomous mobile robots is greatly developed. Along with the increasing wide application of robots and the characteristics of complexity, randomness, multiple constraint, multiple targets and the like of the problems of robot operation efficiency, how to analyze specific problems in various different environments, reasonably and effectively select path planning and reasonably arrange cargo space methods and strategies in a warehouse and the like have become a very practical problem in robot research. In the prior art, the four-way shuttle scheduling system has the problem of low efficiency caused by unreasonable running paths. Meanwhile, the main mode of warehouse entry cargo space arrangement in the prior art is that the cargo space is arranged by storing at a designated position, when the cargo is stored at the left cargo space and the right cargo space of the three-connected bin, the middle cargo space cannot be utilized, and the utilization rate of the cargo space is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent warehousing method and system for a four-way shuttle car, so as to solve the problem of unreasonable running path of the four-way shuttle car in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent warehousing method for a four-way shuttle vehicle comprises the following steps:
receiving warehouse-in task information;
judging whether a target cargo space in the warehousing task information is blocked;
if the target cargo space is not blocked, directly calculating a warehouse-in path of the four-way shuttle;
if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center;
moving the moved goods to a temporary storage position according to the moved goods path;
After the moving of the goods in the warehouse is completed, calculating a warehouse-in path of the four-way shuttle;
and executing the warehousing tasks according to the warehousing paths.
Further, the warehouse-in path calculating method includes:
respectively calculating a moderate function of the starting point and the adjacent point according to the starting point and the end point of the warehouse-in path;
Selecting adjacent points as new starting points according to the moderate function;
Continuously calculating a moderate function of the starting point and the adjacent point according to the new starting point and the new end point;
And connecting all the starting points and the ending points to obtain a warehouse-in path.
Further, the calculation method of the moderate function is as follows:
W＝WS+WE
wherein W is a fitness function; w S is the cost from the current point to the starting point; w E is the cost from the current point to the end point;
the cost calculation formula from the current point to the starting point is as follows:
where W S is the current point to origin cost, (x i,yi) is the point in the path finding process;
the cost calculation formula from the current point to the end point is as follows:
Where W E is the current point to endpoint cost, (x n,yn) is the current point coordinates and (x E,yE) is the endpoint coordinates.
Further, the method for searching the temporary storage position comprises the following steps:
searching adjacent points by taking the goods position of the moved goods as a starting point;
If available cargo positions exist in the adjacent points, calculating the Euclidean distance from each available cargo position to the starting point, and selecting the cargo position with the shortest Euclidean distance as a temporary storage cargo position;
if the available goods space does not exist, selecting the goods space with the shortest Euclidean distance as a new starting point;
repeating the steps until the temporary storage position is found.
Further, the method for selecting the moving goods comprises the following steps:
Calculating Euclidean distances from two adjacent goods positions of the target goods positions to the warehouse-in point;
and selecting the goods with the shortest European distance as the warehouse-moving goods.
Further, the calculation method of the database moving path comprises the following steps:
and calculating by taking the goods position of the moving goods as a starting point and the temporary storage goods position as an ending point to obtain a moving path.
An intelligent warehousing system for a four-way shuttle vehicle, the system comprising:
and a receiving module: the method is used for receiving warehouse-in task information;
and a judging module: the method comprises the steps of judging whether a target cargo space in warehouse-in task information is blocked or not, and directly calculating a warehouse-in path of a four-way shuttle vehicle if the target cargo space is not blocked; if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center;
and a moving module: the system comprises a temporary storage position, a temporary storage position and a temporary storage position, wherein the temporary storage position is used for temporarily storing the goods to be moved according to the temporary storage position;
The calculation module: after the goods moving is completed, calculating a warehouse-in path of the four-way shuttle;
The execution module: and the system is used for executing the warehousing tasks according to the warehousing paths.
An intelligent warehousing system for a four-way shuttle vehicle, the system comprising a processor and a storage medium;
The storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of the method described above.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
According to the method and the device, the warehouse-in paths of the four-way shuttle are respectively planned according to the condition that whether the target cargo space is blocked or not, so that the problem of path planning of the four-way shuttle when the target cargo space is blocked can be effectively solved, the utilization rate of the cargo space and the rationality of planning are improved, the shortest path can be found for the four-way shuttle, and the running efficiency and the endurance time of the four-way shuttle are effectively improved.
Drawings
FIG. 1 is a top view illustration of a cargo space for an intelligent warehousing approach for a four-way shuttle vehicle according to the present invention;
FIG. 2 is a general flow chart of an intelligent warehousing method for a four-way shuttle vehicle according to the present invention;
FIG. 3 is an illustration of an inventory path planning scheme for an intelligent warehousing method for a four-way shuttle vehicle according to the present invention;
FIG. 4 is a path planning flow chart of an intelligent warehousing method for a four-way shuttle vehicle according to the present invention;
FIG. 5 is an illustration of a temporary inventory location finding scheme for an intelligent warehousing approach for a four-way shuttle vehicle in accordance with the present invention;
fig. 6 is a flow chart of a temporary storage location finding scheme for an intelligent warehousing method for a four-way shuttle vehicle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and the following examples are only for more clearly illustrating the technical solution of the present invention, and are not to be construed as limiting the scope of the present invention.
The invention mainly comprises a path planning scheme and a temporary storage position searching scheme of the four-way shuttle. The route planning scheme of the four-way shuttle mainly aims at improving the operation efficiency of the four-way shuttle and finding out a process of running the shortest route; the temporary storage goods space searching scheme is mainly used for improving the utilization rate of the three-dimensional warehouse, and when the target goods space is blocked, the goods space temporarily stored nearby is searched for temporarily storing the goods in the warehouse.
An intelligent warehousing method for a four-way shuttle vehicle comprises the following steps: receiving warehouse-in task information; judging whether a target cargo space in the warehousing task information is blocked; if the target cargo space is not blocked, directly calculating a warehouse-in path of the four-way shuttle; if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center; moving the moved goods to a temporary storage position according to the moved goods path; after the moving of the goods in the warehouse is completed, calculating a warehouse-in path of the four-way shuttle; and executing the warehousing tasks according to the warehousing paths.
As shown in fig. 1, a simple cargo map of the present invention is shown in top view, where S is an entrance of a three-dimensional warehouse, E is an exit of the three-dimensional warehouse, 1,2, 3, 4, 5, 6 are cargo positions, and a blank portion is a four-way shuttle track. The running direction of the four-way shuttle on the track is up, down, left and right, and the running direction in the goods space is limited to the left and right directions and cannot be up, down and right. 1. The goods positions of the two goods positions 2, 3, 4, 5 and 6 are three-connected bins. The cargo space blockage is the condition that cargo space 1 and cargo space 3 in the triple bins 1,2 and 3 have cargoes, and cargo space 2 has no cargoes, and when the WMS sends a warehouse-in task to the cargo space 2, the condition is called cargo space blockage. The goods at the goods space 1 and the goods space 3 are called as moving goods, the goods at the goods space away from the moving goods are called as temporary storage goods, and the goods space 4 or the goods space 6 is called as temporary storage goods.
In a control system, receiving warehousing information issued by an upper-layer WMS system, inquiring and judging whether a target cargo space is blocked in a database according to the target cargo space in task information, and if the target cargo space is not blocked, calculating a warehousing path through a path planning method to carry out a warehousing task; if the target cargo space is blocked, searching a temporary storage cargo space, moving the blocked cargo to the temporary storage cargo space, calculating a warehouse-in path of the four-way shuttle after the moving of the warehouse-in cargo is completed, carrying out a warehouse-in task by the four-way shuttle according to the warehouse-in path, and continuously moving the temporary storage cargo to the cargo space where the four-way shuttle is located after the execution of the warehouse-in task is completed.
As shown in fig. 2, a specific flowchart of an intelligent warehousing method for a four-way shuttle vehicle includes the following steps:
Step one, receiving WMS warehousing task information, judging whether a target cargo space in the task information is blocked, if not, calculating a warehousing path of the four-way shuttle vehicle through a path planning scheme, and executing a warehousing task.
If the goods space is blocked, calculating Euclidean distances from two adjacent goods spaces of the target goods space to the warehouse entry point, and selecting the goods space point with the shortest Euclidean distance as the warehouse moving goods.
And thirdly, finding a temporary storage cargo space by taking the cargo space of the moving cargo as the center.
And step four, calculating a warehouse moving path by taking the warehouse moving goods as a starting point and the temporary storage goods as an end point, and moving the warehouse moving goods to the temporary storage goods by the four-way shuttle according to the calculated warehouse moving path.
And fifthly, after the movement of the warehouse-moving goods space is completed, calculating a warehouse-in path of the four-way shuttle vehicle, and executing a warehouse-in task.
And step six, after the warehousing task is executed, moving the warehouse-moving goods to the original goods position.
As shown in fig. 3, in the case of the path planning scheme of the present invention, S is a starting point position of a path, E is an end point position of the path, a starting point S adjacent position is selected first, and due to the characteristics of the operation and the cargo space of the four-way shuttle, the adjacent points of the four-way shuttle need to be selected according to the situation, when the position of the S point is a track, the adjacent points around the S are 1, 2, 3 and 4 points, and when the position of the S point is a cargo space, the adjacent points of the S are 1 and 3 points; respectively calculating adjacent point moderate functions, and sequencing the moderate functions through a sequencing algorithm; and then taking the surrounding adjacent points as starting points, continuously calculating a surrounding point moderate function, and finally searching for an end point E. The example found path in fig. 3 is s→2→5→6→e or s→3→7→8→e.
In the present invention, the moderate function of the path planning scheme contains two contents, the cost from the start point to the current point and the cost from the current point to the end point. The cost calculation from the current point to the starting point is as follows:
Where W S is the cost of the current point to the starting point, (x n,yn) is the coordinates of the current point, (x i,yi) is the point in the path finding process.
The cost calculation mode from the current point to the end point is as follows:
Where W E is the cost of the current point to the end point, (x n,yn) is the coordinates of the current point and (x E,yE) is the coordinates of the target point.
Finally, the fitness function is:
W＝WS+WE
As shown in fig. 4, the path planning in the present invention includes the following steps:
Firstly, s is selected as a starting node and put into an Open set to wait for investigation and marking;
Step two, taking s as a current node, searching all adjacent nodes v of the current node, marking the adjacent nodes v as to-be-inspected, putting the adjacent nodes v into a set open, marking the s as inspected, and putting the adjacent nodes v into a set close;
Step three, taking a node p with the minimum moderate function value from the set open to the starting node s as a current node, searching all adjacent nodes q of the current node as marks to be inspected, and putting the current node p into the set open;
and step four, turning to the step two, and finally finishing the searching process after the target node is inspected or the set S is empty.
As shown in fig. 5, the black cargo space 2, 4 and 6 are stored cargoes, the target cargo space of the warehouse-in task is cargo space 5, the main principle of the temporary storage cargo space searching scheme of the invention is that firstly, cargoes stored in adjacent cargo spaces 4 and 6 of the target cargo space 5 are selected as warehouse-moving cargoes, the Euclidean distance between the cargo spaces 4 and 6 and a warehouse-in point S is calculated, the cargo on the cargo space with the shortest Euclidean distance is selected as the warehouse-moving cargo, and the warehouse-moving cargo selected in the example in fig. 5 is the cargo on the cargo space 4; after finding the goods in the moving warehouse, firstly marking 5 unreachable goods in the goods space; the closest cargo space to the cargo space 4 is found from the cargo space 4 as a temporary storage cargo space. The principle of finding the nearest cargo space solution is mainly similar to the one of finding the path. Searching adjacent points in the goods space 4 by taking the goods space 4 as the center, if the available goods space exists in the adjacent points, calculating the Euclidean distance from each goods space to the starting point, and selecting the goods space with the shortest Euclidean distance as the temporary storage goods space; if the available cargo space does not exist, the point with the shortest Euclidean distance is selected as a new starting point, and the calculation is repeated to finally find a nearest cargo space as a temporary storage cargo space. In the example of fig. 5, the temporary storage location is found to be location 1 by the temporary storage location finding scheme of the present invention.
As shown in fig. 6, the method for searching the latest temporary storage position comprises the following steps:
firstly, s is selected as a starting node, and is put into a set List to wait for investigation and marked;
Step two, taking the goods position of the goods in the moving warehouse as the current node, searching adjacent nodes and adding the adjacent nodes into a List;
step three, judging whether available goods spaces exist in the List or not;
If the List has available goods spaces, calculating the Euclidean distance from the goods spaces around the starting point to the starting point, and selecting the goods space with the shortest Euclidean distance as a temporary storage goods space;
And step five, if the List does not have an available cargo space, turning to the step three by taking the node with the shortest adjacent Euclidean distance as the current node, and finally finding the available cargo space as a temporary storage cargo space.
An intelligent warehousing system for a four-way shuttle vehicle, the system comprising:
and a receiving module: the method is used for receiving warehouse-in task information;
and a judging module: the method comprises the steps of judging whether a target cargo space in warehouse-in task information is blocked or not, and directly calculating a warehouse-in path of a four-way shuttle vehicle if the target cargo space is not blocked; if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center;
and a moving module: the system comprises a temporary storage position, a temporary storage position and a temporary storage position, wherein the temporary storage position is used for temporarily storing the goods to be moved according to the temporary storage position;
The calculation module: after the goods moving is completed, calculating a warehouse-in path of the four-way shuttle;
The execution module: and the system is used for executing the warehousing tasks according to the warehousing paths.
An intelligent warehousing system for a four-way shuttle vehicle, the system comprising a processor and a storage medium;
The storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of the method described above.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (6)

1. An intelligent warehousing method for a four-way shuttle vehicle is characterized by comprising the following steps of:
receiving warehouse-in task information;
judging whether a target cargo space in the warehousing task information is blocked;
if the target cargo space is not blocked, directly calculating a warehouse-in path of the four-way shuttle;
if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center;
moving the moved goods to a temporary storage position according to the moved goods path;
After the moving of the goods in the warehouse is completed, calculating a warehouse-in path of the four-way shuttle;
executing a warehousing task according to the warehousing path;
the warehouse-in path calculating method comprises the following steps:
respectively calculating a moderate function of the starting point and the adjacent point according to the starting point and the end point of the warehouse-in path;
Selecting adjacent points as new starting points according to the moderate function;
Continuously calculating a moderate function of the starting point and the adjacent point according to the new starting point and the new end point;
Connecting all starting points and end points to form a warehouse-in path;
the calculation method of the moderate function comprises the following steps:
W＝WS+WE
wherein W is a fitness function; w S is the cost from the current point to the starting point; w E is the cost from the current point to the end point;
the cost calculation formula from the current point to the starting point is as follows:
where W S is the current point to origin cost, (x i,yi) is the point in the path finding process;
the cost calculation formula from the current point to the end point is as follows:
Wherein W E is the cost from the current point to the end point, (x n,yn) is the coordinates of the current point and (x E,yE) is the coordinates of the end point;
the temporary storage position searching method comprises the following steps:
searching adjacent points by taking the goods position of the moved goods as a starting point;
If available cargo positions exist in the adjacent points, calculating the Euclidean distance from each available cargo position to the starting point, and selecting the cargo position with the shortest Euclidean distance as a temporary storage cargo position;
if the available goods space does not exist, selecting the goods space with the shortest Euclidean distance as a new starting point;
repeating the steps until the temporary storage position is found.
2. The intelligent warehousing method for the four-way shuttle vehicle according to claim 1, wherein the method for selecting the warehouse-moving goods is as follows:
Calculating Euclidean distances from two adjacent goods positions of the target goods positions to the warehouse-in point;
and selecting the goods with the shortest European distance as the warehouse-moving goods.
3. The intelligent warehousing method for the four-way shuttle vehicle according to claim 1, wherein the calculation method of the warehouse-moving path is as follows:
and calculating by taking the goods position of the moving goods as a starting point and the temporary storage goods position as an ending point to obtain a moving path.
4. An intelligent warehousing system for a four-way shuttle vehicle, the system comprising:
and a receiving module: the method is used for receiving warehouse-in task information;
and a judging module: the method comprises the steps of judging whether a target cargo space in warehouse-in task information is blocked or not, and directly calculating a warehouse-in path of a four-way shuttle vehicle if the target cargo space is not blocked; if the target cargo space is blocked, searching a temporary storage cargo space by taking the cargo space of the moved cargo as the center;
and a moving module: the system comprises a temporary storage position, a temporary storage position and a temporary storage position, wherein the temporary storage position is used for temporarily storing the goods to be moved according to the temporary storage position;
The calculation module: after the goods moving is completed, calculating a warehouse-in path of the four-way shuttle;
The execution module: the method comprises the steps of executing a warehousing task according to a warehousing path;
the warehouse-in path calculating method comprises the following steps:
respectively calculating a moderate function of the starting point and the adjacent point according to the starting point and the end point of the warehouse-in path;
Selecting adjacent points as new starting points according to the moderate function;
Continuously calculating a moderate function of the starting point and the adjacent point according to the new starting point and the new end point;
Connecting all starting points and end points to form a warehouse-in path;
the calculation method of the moderate function comprises the following steps:
W＝WS+WE
wherein W is a fitness function; w S is the cost from the current point to the starting point; w E is the cost from the current point to the end point;
the cost calculation formula from the current point to the starting point is as follows:
where W S is the current point to origin cost, (x i,yi) is the point in the path finding process;
the cost calculation formula from the current point to the end point is as follows:
Wherein W E is the cost from the current point to the end point, (x n,yn) is the coordinates of the current point and (x E,yE) is the coordinates of the end point;
the temporary storage position searching method comprises the following steps:
searching adjacent points by taking the goods position of the moved goods as a starting point;
If available cargo positions exist in the adjacent points, calculating the Euclidean distance from each available cargo position to the starting point, and selecting the cargo position with the shortest Euclidean distance as a temporary storage cargo position;
if the available goods space does not exist, selecting the goods space with the shortest Euclidean distance as a new starting point;
repeating the steps until the temporary storage position is found.
5. An intelligent warehousing system for a four-way shuttle vehicle, the system comprising a processor and a storage medium;
The storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1-3.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any of claims 1-3.
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